Facilitating the driver detection of road surface type by selective manipulation of the steering-wheel acceleration signal

Copyright @ 2012 by Institution of Mechanical Engineers.Previous research has investigated the possibility of facilitating the driver detection of road surface type by means of selective manipulation of the steering-wheel acceleration signal. In previous studies a selective increase in acceleration amplitude has been found to facilitate road-surface-type detection, as has selective manipulation of the individual transient events which are present in the signal. The previous research results have been collected into a first guideline for the optimization of the steering-wheel acceleration signal, and the guideline has been tested in the current study. The test stimuli used in the current study were ten steering-wheel acceleration-time histories which were selected from an extensive database of road test measurements performed by the research group. The time histories, which were all from midsized European automobiles and European roads, were selected such that the widest possible operating envelope could be achieved in terms of the r.m.s. value of the steering acceleration, the kurtosis, the power spectral density function, and the number of transient events present in the signal. The time histories were manipulated by means of the mildly non-stationary mission synthesis algorithm in order to increase, by a factor of 2, both the number and the size of the transient events contained within the frequency interval from 20 Hz to 60Hz. The ensemble, composed of both the unmanipulated and the manipulated time histories, was used to perform a laboratory-based detection task with 15 participants, who were presented the individual stimuli in random order. The participants were asked to state, by answering 'yes' or 'no', whether each stimulus was considered to be from the road surface that was displayed in front of them by means of a large photograph on a board. The results suggest that the selectively manipulated steering-wheel acceleration stimuli produced improved detection for eight of the ten road surface types which were tested, with a maximum improvement of 14 per cent in the case of the broken road surface. The selective manipulation did lead, however, to some degradation in detection for the motorway road stimulus and for the noise road stimulus, thus suggesting that the current guideline is not universally optimal for all road surfaces

On Neuromechanical Approaches for the Study of Biological Grasp and Manipulation

Biological and robotic grasp and manipulation are undeniably similar at the level of mechanical task performance. However, their underlying fundamental biological vs. engineering mechanisms are, by definition, dramatically different and can even be antithetical. Even our approach to each is diametrically opposite: inductive science for the study of biological systems vs. engineering synthesis for the design and construction of robotic systems. The past 20 years have seen several conceptual advances in both fields and the quest to unify them. Chief among them is the reluctant recognition that their underlying fundamental mechanisms may actually share limited common ground, while exhibiting many fundamental differences. This recognition is particularly liberating because it allows us to resolve and move beyond multiple paradoxes and contradictions that arose from the initial reasonable assumption of a large common ground. Here, we begin by introducing the perspective of neuromechanics, which emphasizes that real-world behavior emerges from the intimate interactions among the physical structure of the system, the mechanical requirements of a task, the feasible neural control actions to produce it, and the ability of the neuromuscular system to adapt through interactions with the environment. This allows us to articulate a succinct overview of a few salient conceptual paradoxes and contradictions regarding under-determined vs. over-determined mechanics, under- vs. over-actuated control, prescribed vs. emergent function, learning vs. implementation vs. adaptation, prescriptive vs. descriptive synergies, and optimal vs. habitual performance. We conclude by presenting open questions and suggesting directions for future research. We hope this frank assessment of the state-of-the-art will encourage and guide these communities to continue to interact and make progress in these important areas

Effect of transient event frequency content and scale on the human detection of road surface type

This paper describes two laboratory-based experiments which evaluate the effect of transient event frequency content and scale on the human detection of road surface type by means of steering wheel vibration. This study used steering wheel tangential direction acceleration time histories which had been measured in a mid-sized European automobile that was driven over two different types of road surface. The steering acceleration stimuli were manipulated by means of the mildly non-stationary mission synthesis (MNMS) algorithm in order to produce test stimuli which were selectively modified in terms of the number, and size, of transient vibration events they contained. Fifteen test participants were exposed to both unmanipulated and manipulated steering wheel rotational stimuli by means of a steering wheel vibration simulator. For each road surface type a total of 45 vibration test stimuli were presented to each participant. Each participant was asked to state, by means of a simple "yes" or "no" answer, whether each individual stimuli was from a road surface which was being presented in front of the simulator as a picture on a large board. Using Signal Detection Theory as the analytical framework the results were summarized by means of the detectability index d' and by means of receiver operating curve (ROC) points. Improvements of up to 20 percentage points in the rate of correct detection were achieved by means of selective manipulation of the steering vibration stimuli. The results suggested that no single setting of the MNMS algorithm proved optimal for both two road surface types that were investigated

Data-Driven Grasp Synthesis - A Survey

We review the work on data-driven grasp synthesis and the methodologies for sampling and ranking candidate grasps. We divide the approaches into three groups based on whether they synthesize grasps for known, familiar or unknown objects. This structure allows us to identify common object representations and perceptual processes that facilitate the employed data-driven grasp synthesis technique. In the case of known objects, we concentrate on the approaches that are based on object recognition and pose estimation. In the case of familiar objects, the techniques use some form of a similarity matching to a set of previously encountered objects. Finally for the approaches dealing with unknown objects, the core part is the extraction of specific features that are indicative of good grasps. Our survey provides an overview of the different methodologies and discusses open problems in the area of robot grasping. We also draw a parallel to the classical approaches that rely on analytic formulations.Comment: 20 pages, 30 Figures, submitted to IEEE Transactions on Robotic

Systems analysis of guard cell membrane transport for enhanced stomatal dynamics and water use efficiency

Stomatal transpiration is at the centre of a crisis in water availability and crop production that is expected to unfold over the next 20-30 years. Global water usage has increased 6-fold in the past 100 years, twice as fast as the human population, and is expected to double again before 2030, driven mainly by irrigation and agriculture. Guard cell membrane transport is integral to controlling stomatal aperture and offers important targets for genetic manipulation to improve crop performance. However, its complexity presents a formidable barrier to exploring such possibilities. With few exceptions, mutations that increase water use efficiency commonly have been found to do so with substantial costs to the rate of carbon assimilation, reflecting the trade-off in CO2 availability with suppressed stomatal transpiration. One approach yet to be explored in any detail relies on quantitative systems analysis of the guard cell. Our deep knowledge of transport and homeostasis in these cells gives real substance to the prospect for ‘reverse engineering’ of stomatal responses, using in silico design in directing genetic manipulation for improved water use and crop yields. Here we address this problem with a focus on stomatal kinetics, taking advantage of the OnGuard software and models of the stomatal guard cell (www.psrg.org.uk) recently developed for exploring stomatal physiology. Our analysis suggests that manipulations of single transporter populations are likely to have unforeseen consequences. Channel gating, especially of the dominant K+ channels, appears the most favorable target for experimental manipulation

Biological Information, Causality and Specificity - an Intimate Relationship

In this chapter we examine the relationship between biological information, the key biological concept of specificity, and recent philosophical work on causation. We begin by showing how talk of information in the molecular biosciences grew out of efforts to understand the sources of biological specificity. We then introduce the idea of ‘causal specificity’ from recent work on causation in philosophy, and our own, information theoretic measure of causal specificity. Biological specificity, we argue, is simple the causal specificity of certain biological processes. This, we suggest, means that causal relationships in biology are ‘informational’ relationships simply when they are highly specific relationships. Biological information can be identified with the storage, transmission and exercise of biological specificity. It has been argued that causal relationships should not be regarded as informational relationship unless they are ‘arbitrary’. We argue that, whilst arbitrariness is an important feature of many causal relationships in living systems, it should not be used in this way to delimit biological information. Finally, we argue that biological specificity, and hence biological information, is not confined to nucleic acids but distributed among a wide range of entities and processes

Emotional Prosody Measurement (EPM): A voice-based evaluation method for psychological therapy effectiveness

The voice embodies three sources of information: speech, the identity, and the emotional state of the speaker (i.e., emotional prosody). The latter feature is resembled by the variability of the F0 (also named fundamental frequency of pitch) (SD F0). To extract this feature, Emotional Prosody Measurement (EPM) was developed, which consists of 1) speech recording, 2) removal of speckle noise, 3) a Fourier Transform to extract the F0-signal, and 4) the determination of SD F0. After a pilot study in which six participants mimicked emotions by their voice, the core experiment was conducted to see whether EPM is successful. Twenty-five patients suffering from a panic disorder with agoraphobia participated. Two methods (storytelling and reliving) were used to trigger anxiety and were compared with comparable but more relaxed conditions. This resulted in a unique database of speech samples that was used to compare the EPM with the Subjective Unit of Distress to validate it as measure for anxiety/stress. The experimental manipulation of anxiety proved to be successful and EPM proved to be a successful evaluation method for psychological therapy effectiveness

Artificial and Natural Genetic Information Processing

Conventional methods of genetic engineering and more recent genome editing techniques focus on identifying genetic target sequences for manipulation. This is a result of historical concept of the gene which was also the main assumption of the ENCODE project designed to identify all functional elements in the human genome sequence. However, the theoretical core concept changed dramatically. The old concept of genetic sequences which can be assembled and manipulated like molecular bricks has problems in explaining the natural genome-editing competences of viruses and RNA consortia that are able to insert or delete, combine and recombine genetic sequences more precisely than random-like into cellular host organisms according to adaptational needs or even generate sequences de novo. Increasing knowledge about natural genome editing questions the traditional narrative of mutations (error replications) as essential for generating genetic diversity and genetic content arrangements in biological systems. This may have far-reaching consequences for our understanding of artificial genome editing